345 lines
15 KiB
C
345 lines
15 KiB
C
#include "show.h"
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int Voltage_Show;
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unsigned char i;
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unsigned char Send_Count;
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extern SEND_DATA Send_Data;
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extern int MPU9250ErrorCount, EncoderA_Count, EncoderB_Count, EncoderC_Count, EncoderD_Count;
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extern int MPU9250SensorCountA, MPU9250SensorCountB, MPU9250SensorCountC, MPU9250SensorCountD;
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extern int Time_count;
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/**************************************************************************
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Function: Read the battery voltage, buzzer alarm, start the self-test, send data to APP, OLED display task
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Input : none
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Output : none
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函数功能：读取电池电压、蜂鸣器报警、开启自检、向APP发送数据、OLED显示屏显示任务
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入口参数：无
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返回 值：无
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**************************************************************************/
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int Buzzer_count=25;
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void show_task(void *pvParameters)
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{
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u32 lastWakeTime = getSysTickCnt();
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while(1)
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{
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int i=0;
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static int LowVoltage_1=0, LowVoltage_2=0;
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vTaskDelayUntil(&lastWakeTime, F2T(RATE_10_HZ));//This task runs at 10Hz //此任务以10Hz的频率运行
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//开机时蜂鸣器短暂蜂鸣，开机提醒
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//The buzzer will beep briefly when the machine is switched on
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if(Time_count<50)Buzzer=1;
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else if(Time_count>=51 && Time_count<100)Buzzer=0;
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if(LowVoltage_1==1 || LowVoltage_2==1)Buzzer_count=0;
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if(Buzzer_count<5)Buzzer_count++;
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if(Buzzer_count<5)Buzzer=1; //The buzzer is buzzing //蜂鸣器蜂鸣
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else if(Buzzer_count==5)Buzzer=0;
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//Read the battery voltage //读取电池电压
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for(i=0;i<10;i++)
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{
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Voltage_All+=Get_battery_volt();
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}
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Voltage=Voltage_All/10;
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Voltage_All=0;
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if(LowVoltage_1==1)LowVoltage_1++; //Make sure the buzzer only rings for 0.5 seconds //确保蜂鸣器只响0.5秒
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if(LowVoltage_2==1)LowVoltage_2++; //Make sure the buzzer only rings for 0.5 seconds //确保蜂鸣器只响0.5秒
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if(Voltage>=12.6f)Voltage=12.6f;
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else if(10<=Voltage && Voltage<10.5f && LowVoltage_1<2)LowVoltage_1++; //10.5V, first buzzer when low battery //10.5V，低电量时蜂鸣器第一次报警
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else if(Voltage<10 && LowVoltage_1<2)LowVoltage_2++; //10V, when the car is not allowed to control, the buzzer will alarm the second time //10V，小车禁止控制时蜂鸣器第二次报警
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APP_Show(); //Send data to the APP //向APP发送数据
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oled_show(); //Tasks are displayed on the screen //显示屏显示任务
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}
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}
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/**************************************************************************
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Function: The OLED display displays tasks
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Input : none
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Output : none
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函数功能：OLED显示屏显示任务
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入口参数：无
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返回 值：无
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**************************************************************************/
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void oled_show(void)
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{
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static int count=0;
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int Car_Mode_Show;
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//Collect the tap information of the potentiometer,
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//and display the car model to be fitted when the car starts up in real time
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//采集电位器档位信息，实时显示小车开机时要适配的小车型号
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Divisor_Mode=2048/CAR_NUMBER+5;
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Car_Mode_Show=(int) ((Get_adc_Average(Potentiometer,10))/Divisor_Mode);
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if(Car_Mode_Show>5)Car_Mode_Show=5;
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//Car_Mode_Show=0;
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Voltage_Show=Voltage*100;
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count++;
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if(Check==0)//The car displays normally when the self-check mode is not enabled //没有开启自检模式时小车正常显示
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{
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//The first line of the display displays the content//
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//显示屏第1行显示内容//
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switch(Car_Mode_Show)
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{
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case Mec_Car: OLED_ShowString(0,0,"Mec "); break;
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case Omni_Car: OLED_ShowString(0,0,"Omni"); break;
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case Akm_Car: OLED_ShowString(0,0,"Akm "); break;
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case Diff_Car: OLED_ShowString(0,0,"Diff"); break;
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case FourWheel_Car: OLED_ShowString(0,0,"4WD "); break;
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case Tank_Car: OLED_ShowString(0,0,"Tank"); break;
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}
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if(Car_Mode==Mec_Car||Car_Mode==Omni_Car)
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{
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//The Mec_car and omni_car show Z-axis angular velocity
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//麦轮、全向轮小车显示Z轴角速度
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OLED_ShowString(55,0,"GZ");
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if( gyro[2]<0) OLED_ShowString(80,0,"-"),OLED_ShowNumber(90,0,-gyro[2],5,12);
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else OLED_ShowString(80,0,"+"),OLED_ShowNumber(90,0, gyro[2],5,12);
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}
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else if(Car_Mode==Akm_Car||Car_Mode==Diff_Car||Car_Mode==FourWheel_Car||Car_Mode==Tank_Car)
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{
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//Akm_Car, Diff_Car, FourWheel_Car and Tank_Car Displays gyroscope zero
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//阿克曼、差速、四驱、履带车显示陀螺仪零点
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OLED_ShowString(55,0,"BIAS");
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if( Deviation_gyro[2]<0) OLED_ShowString(90,0,"-"),OLED_ShowNumber(100,0,-Deviation_gyro[2],3,12); //Zero-drift data of gyroscope Z axis
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else OLED_ShowString(90,0,"+"),OLED_ShowNumber(100,0, Deviation_gyro[2],3,12); //陀螺仪z轴零点漂移数据
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}
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//The first line of the display displays the content//
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//显示屏第1行显示内容//
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//The second line of the display displays the content//
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//显示屏第2行显示内容//
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if(Car_Mode==Mec_Car||Car_Mode==Omni_Car||Car_Mode==FourWheel_Car)
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{
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//Mec_Car, Omni_Car and FourWheel_Car Display the target speed and current actual speed of motor A
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//麦轮、全向轮、四驱车显示电机A的目标速度和当前实际速度
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OLED_ShowString(0,10,"A");
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if( MOTOR_A.Target<0) OLED_ShowString(15,10,"-"),
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OLED_ShowNumber(20,10,-MOTOR_A.Target*1000,5,12);
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else OLED_ShowString(15,10,"+"),
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OLED_ShowNumber(20,10, MOTOR_A.Target*1000,5,12);
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if( MOTOR_A.Encoder<0)OLED_ShowString(60,10,"-"),
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OLED_ShowNumber(75,10,-MOTOR_A.Encoder*1000,5,12);
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else OLED_ShowString(60,10,"+"),
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OLED_ShowNumber(75,10, MOTOR_A.Encoder*1000,5,12);
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}
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else if(Car_Mode==Akm_Car||Car_Mode==Diff_Car||Car_Mode==Tank_Car)
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{
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//The Akm_Car, Diff_Car and Tank_Car show Z-axis angular velocity
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//阿克曼、差速、坦克小车显示Z轴角速度
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OLED_ShowString(00,10,"GYRO_Z:");
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if( gyro[2]<0) OLED_ShowString(60,10,"-"),
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OLED_ShowNumber(75,10,-gyro[2],5,12);
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else OLED_ShowString(60,10,"+"),
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OLED_ShowNumber(75,10, gyro[2],5,12);
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}
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//The second line of the display displays the content//
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//显示屏第2行显示内容//
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//Lines 3 and 4 of the display screen display content//
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//显示屏第3、4行显示内容//
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if(Car_Mode==Mec_Car||Car_Mode==Omni_Car||Car_Mode==FourWheel_Car)
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{
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//Mec_Car, Omni_Car and FourWheel_Car Display the target speed and current actual speed of motor B
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//麦轮、全向轮、四驱车显示电机B的目标速度和当前实际速度
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OLED_ShowString(0,20,"B");
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if( MOTOR_B.Target<0) OLED_ShowString(15,20,"-"),
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OLED_ShowNumber(20,20,-MOTOR_B.Target*1000,5,12);
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else OLED_ShowString(15,20,"+"),
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OLED_ShowNumber(20,20, MOTOR_B.Target*1000,5,12);
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if( MOTOR_B.Encoder<0)OLED_ShowString(60,20,"-"),
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OLED_ShowNumber(75,20,-MOTOR_B.Encoder*1000,5,12);
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else OLED_ShowString(60,20,"+"),
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OLED_ShowNumber(75,20, MOTOR_B.Encoder*1000,5,12);
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//Mec_Car, Omni_Car and FourWheel_Car Display the target speed and current actual speed of motor C
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//麦轮、全向轮、四驱车显示电机C的目标速度和当前实际速度
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OLED_ShowString(0,30,"C");
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if( MOTOR_C.Target<0) OLED_ShowString(15,30,"-"),
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OLED_ShowNumber(20,30,- MOTOR_C.Target*1000,5,12);
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else OLED_ShowString(15,30,"+"),
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OLED_ShowNumber(20,30, MOTOR_C.Target*1000,5,12);
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if( MOTOR_C.Encoder<0)OLED_ShowString(60,30,"-"),
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OLED_ShowNumber(75,30,-MOTOR_C.Encoder*1000,5,12);
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else OLED_ShowString(60,30,"+"),
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OLED_ShowNumber(75,30, MOTOR_C.Encoder*1000,5,12);
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}
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else if(Car_Mode==Akm_Car||Car_Mode==Diff_Car||Car_Mode==Tank_Car)
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{
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//Akm_Car, Diff_Car and Tank_Car Display the target speed and current actual speed of motor A
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//阿克曼、差速、履带车显示电机A的目标速度和当前实际速度
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OLED_ShowString(0,20,"L:");
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if( MOTOR_A.Target<0) OLED_ShowString(15,20,"-"),
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OLED_ShowNumber(20,20,-MOTOR_A.Target*1000,5,12);
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else OLED_ShowString(15,20,"+"),
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OLED_ShowNumber(20,20, MOTOR_A.Target*1000,5,12);
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if( MOTOR_A.Encoder<0) OLED_ShowString(60,20,"-"),
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OLED_ShowNumber(75,20,-MOTOR_A.Encoder*1000,5,12);
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else OLED_ShowString(60,20,"+"),
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OLED_ShowNumber(75,20, MOTOR_A.Encoder*1000,5,12);
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//Akm_Car, Diff_Car and Tank_Car Display the target speed and current actual speed of motor B
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//阿克曼、差速、履带车显示电机B的目标速度和当前实际速度
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OLED_ShowString(0,30,"R:");
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if( MOTOR_B.Target<0) OLED_ShowString(15,30,"-"),
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OLED_ShowNumber(20,30,-MOTOR_B.Target*1000,5,12);
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else OLED_ShowString(15,30,"+"),
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OLED_ShowNumber(20,30, MOTOR_B.Target*1000,5,12);
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if( MOTOR_B.Encoder<0) OLED_ShowString(60,30,"-"),
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OLED_ShowNumber(75,30,-MOTOR_B.Encoder*1000,5,12);
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else OLED_ShowString(60,30,"+"),
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OLED_ShowNumber(75,30, MOTOR_B.Encoder*1000,5,12);
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// if( Remoter_Ch1<0) OLED_ShowString(15,20,"-"),
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// OLED_ShowNumber(20,20,-Remoter_Ch1,5,12);
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// else OLED_ShowString(15,20,"+"),
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// OLED_ShowNumber(20,20, Remoter_Ch1,5,12);
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// if( Remoter_Ch2<0) OLED_ShowString(60,20,"-"),
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// OLED_ShowNumber(75,20,-Remoter_Ch2,5,12);
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// else OLED_ShowString(60,20,"+"),
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// OLED_ShowNumber(75,20, Remoter_Ch2,5,12);
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// if( Remoter_Ch3<0) OLED_ShowString(15,30,"-"),
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// OLED_ShowNumber(20,30,-Remoter_Ch3,5,12);
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// else OLED_ShowString(15,30,"+"),
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// OLED_ShowNumber(20,30, Remoter_Ch3,5,12);
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// if( Remoter_Ch4<0) OLED_ShowString(60,30,"-"),
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// OLED_ShowNumber(75,30,-Remoter_Ch4,5,12);
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// else OLED_ShowString(60,30,"+"),
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// OLED_ShowNumber(75,30, Remoter_Ch4,5,12);
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}
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//Lines 3 and 4 of the display screen display content//
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//显示屏第3、4行显示内容//
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//Line 5 of the display displays the content//
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//显示屏第5行显示内容//
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if(Car_Mode==Mec_Car||Car_Mode==FourWheel_Car)
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{
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//Mec_Car Display the target speed and current actual speed of motor D
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//麦轮小车显示电机D的目标速度和当前实际速度
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OLED_ShowString(0,40,"D");
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if( MOTOR_D.Target<0) OLED_ShowString(15,40,"-"),
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OLED_ShowNumber(20,40,- MOTOR_D.Target*1000,5,12);
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else OLED_ShowString(15,40,"+"),
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OLED_ShowNumber(20,40, MOTOR_D.Target*1000,5,12);
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if( MOTOR_D.Encoder<0) OLED_ShowString(60,40,"-"),
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OLED_ShowNumber(75,40,-MOTOR_D.Encoder*1000,5,12);
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else OLED_ShowString(60,40,"+"),
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OLED_ShowNumber(75,40, MOTOR_D.Encoder*1000,5,12);
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}
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else if(Car_Mode==Omni_Car)
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{
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// The Omni_car shows Z-axis angular velocity (1000 times magnification) in rad/s
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//全向轮小车显示Z轴角速度(放大1000倍)，单位rad/s
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OLED_ShowString(0,40,"MOVE_Z");
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if(Send_Data.Sensor_Str.X_speed<0) OLED_ShowString(60,40,"-"),
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OLED_ShowNumber(75,40,-Send_Data.Sensor_Str.X_speed,5,12);
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else OLED_ShowString(60,40,"+"),
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OLED_ShowNumber(75,40, Send_Data.Sensor_Str.X_speed,5,12);
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}
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else if(Car_Mode==Akm_Car)
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{
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//Akm_Car displays the PWM value of the Servo
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//阿克曼小车显示舵机的PWM的数值
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OLED_ShowString(00,40,"SERVO:");
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if( Servo<0) OLED_ShowString(60,40,"-"),
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OLED_ShowNumber(80,40,-Servo,4,12);
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else OLED_ShowString(60,40,"+"),
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OLED_ShowNumber(80,40, Servo,4,12);
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}
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else if(Car_Mode==Diff_Car||Car_Mode==Tank_Car)
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{
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// The Diff_Car and Tank_Car displays the PWM values of the left and right motors
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//差速小车、履带车显示左右电机的PWM的数值
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OLED_ShowString(00,40,"MA");
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if( MOTOR_A.Motor_Pwm<0)OLED_ShowString(20,40,"-"),
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OLED_ShowNumber(30,40,-MOTOR_A.Motor_Pwm,4,12);
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else OLED_ShowString(20,40,"+"),
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OLED_ShowNumber(30,40, MOTOR_A.Motor_Pwm,4,12);
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OLED_ShowString(60,40,"MB");
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if(MOTOR_B.Motor_Pwm<0) OLED_ShowString(80,40,"-"),
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OLED_ShowNumber(90,40,-MOTOR_B.Motor_Pwm,4,12);
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else OLED_ShowString(80,40,"+"),
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OLED_ShowNumber(90,40, MOTOR_B.Motor_Pwm,4,12);
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}
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//Line 5 of the display displays the content//
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//显示屏第5行显示内容//
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//Displays the current control mode //显示当前控制模式
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if(PS2_ON_Flag==1) OLED_ShowString(0,50,"PS2 ");
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else if (APP_ON_Flag==1) OLED_ShowString(0,50,"APP ");
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else if (Remote_ON_Flag==1)OLED_ShowString(0,50,"R-C ");
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else if (CAN_ON_Flag==1) OLED_ShowString(0,50,"CAN ");
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else if ((Usart1_ON_Flag || Usart5_ON_Flag)==1) OLED_ShowString(0,50,"USART");
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else OLED_ShowString(0,50,"ROS ");
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//Displays whether controls are allowed in the current car
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//显示当前小车是否允许控制
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if(EN==1&&Flag_Stop==0) OLED_ShowString(45,50,"O N");
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else OLED_ShowString(45,50,"OFF");
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OLED_ShowNumber(75,50,Voltage_Show/100,2,12);
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OLED_ShowString(88,50,".");
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OLED_ShowNumber(98,50,Voltage_Show%100,2,12);
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OLED_ShowString(110,50,"V");
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if(Voltage_Show%100<10) OLED_ShowNumber(92,50,0,2,12);
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}
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OLED_Refresh_Gram();
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}
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/**************************************************************************
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Function: Send data to the APP
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Input : none
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Output : none
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函数功能：向APP发送数据
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入口参数：无
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返回 值：无
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**************************************************************************/
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void APP_Show(void)
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{
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static u8 flag_show;
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int Left_Figure,Right_Figure,Voltage_Show;
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//The battery voltage is processed as a percentage
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//对电池电压处理成百分比形式
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Voltage_Show=(Voltage*1000-10000)/27;
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if(Voltage_Show>100)Voltage_Show=100;
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//Wheel speed unit is converted to 0.01m/s for easy display in APP
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//车轮速度单位转换为0.01m/s，方便在APP显示
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Left_Figure=MOTOR_A.Encoder*100; if(Left_Figure<0)Left_Figure=-Left_Figure;
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Right_Figure=MOTOR_B.Encoder*100; if(Right_Figure<0)Right_Figure=-Right_Figure;
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//Used to alternately print APP data and display waveform
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//用于交替打印APP数据和显示波形
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flag_show=!flag_show;
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if(PID_Send==1)
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{
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//Send parameters to the APP, the APP is displayed in the debug screen
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//发送参数到APP，APP在调试界面显示
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printf("{C%d:%d:%d}$",(int)RC_Velocity,(int)Velocity_KP,(int)Velocity_KI);
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PID_Send=0;
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}
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else if(flag_show==0)
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{
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//Send parameters to the APP and the APP will be displayed on the front page
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//发送参数到APP，APP在首页显示
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printf("{A%d:%d:%d:%d}$",(u8)Left_Figure,(u8)Right_Figure,Voltage_Show,(int)gyro[2]);
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}
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else
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{
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//Send parameters to the APP, the APP is displayed in the waveform interface
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//发送参数到APP，APP在波形界面显示
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printf("{B%d:%d:%d}$",(int)gyro[0],(int)gyro[1],(int)gyro[2]);
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}
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}
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